#include <gtest/gtest.h>#include <iostream>#include <moveit/robot_model/robot_model.h>#include <moveit/robot_model_loader/robot_model_loader.h>#include <pilz_industrial_motion_planner/pilz_industrial_motion_planner.h>#include "test_utils.h"#include <rclcpp/rclcpp.hpp>
Go to the source code of this file.
Classes | |
| class | CommandPlannerTest |
Functions | |
| TEST_F (CommandPlannerTest, ObtainLoadedPlanningAlgorithms) | |
| Test that PTP can be loaded This needs to be extended with every new planning Algorithm. More... | |
| TEST_F (CommandPlannerTest, CheckValidAlgorithmsForServiceRequest) | |
| Check that all announced planning algorithms can perform the service request if the planner_id is set. More... | |
| TEST_F (CommandPlannerTest, CheckInvalidAlgorithmsForServiceRequest) | |
| Check that canServiceRequest(req) returns false if planner_id is not supported. More... | |
| TEST_F (CommandPlannerTest, CheckEmptyPlannerIdForServiceRequest) | |
| Check that canServiceRequest(req) returns false if planner_id is empty. More... | |
| TEST_F (CommandPlannerTest, CheckPlanningContextRequestNull) | |
| Check integrity against empty input. More... | |
| TEST_F (CommandPlannerTest, CheckPlanningContextRequest) | |
| Check that for the announced algorithms getPlanningContext does not return nullptr. More... | |
| TEST_F (CommandPlannerTest, CheckPlanningContextDescriptionNotEmptyAndStable) | |
| Check the description can be obtained and is not empty. More... | |
| int | main (int argc, char **argv) |
Function Documentation
◆ main()
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 229 of file unittest_pilz_industrial_motion_planner.cpp.
◆ TEST_F() [1/7]
| TEST_F | ( | CommandPlannerTest | , |
| CheckEmptyPlannerIdForServiceRequest | |||
| ) |
Check that canServiceRequest(req) returns false if planner_id is empty.
Definition at line 180 of file unittest_pilz_industrial_motion_planner.cpp.
◆ TEST_F() [2/7]
| TEST_F | ( | CommandPlannerTest | , |
| CheckInvalidAlgorithmsForServiceRequest | |||
| ) |
Check that canServiceRequest(req) returns false if planner_id is not supported.
Definition at line 169 of file unittest_pilz_industrial_motion_planner.cpp.
◆ TEST_F() [3/7]
| TEST_F | ( | CommandPlannerTest | , |
| CheckPlanningContextDescriptionNotEmptyAndStable | |||
| ) |
Check the description can be obtained and is not empty.
Definition at line 223 of file unittest_pilz_industrial_motion_planner.cpp.
◆ TEST_F() [4/7]
| TEST_F | ( | CommandPlannerTest | , |
| CheckPlanningContextRequest | |||
| ) |
Check that for the announced algorithms getPlanningContext does not return nullptr.
Definition at line 202 of file unittest_pilz_industrial_motion_planner.cpp.
◆ TEST_F() [5/7]
| TEST_F | ( | CommandPlannerTest | , |
| CheckPlanningContextRequestNull | |||
| ) |
Check integrity against empty input.
Definition at line 191 of file unittest_pilz_industrial_motion_planner.cpp.
◆ TEST_F() [6/7]
| TEST_F | ( | CommandPlannerTest | , |
| CheckValidAlgorithmsForServiceRequest | |||
| ) |
Check that all announced planning algorithms can perform the service request if the planner_id is set.
Definition at line 150 of file unittest_pilz_industrial_motion_planner.cpp.
◆ TEST_F() [7/7]
| TEST_F | ( | CommandPlannerTest | , |
| ObtainLoadedPlanningAlgorithms | |||
| ) |
Test that PTP can be loaded This needs to be extended with every new planning Algorithm.
Definition at line 126 of file unittest_pilz_industrial_motion_planner.cpp.
